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getting_started:tutorials:hal4

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getting_started:tutorials:hal4 [2023/02/27 13:56] – [Publishing] ursgrafgetting_started:tutorials:hal4 [2026/04/12 16:27] (current) – [Using ROS2] ursgraf
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 Open a shell in the build directory of your EEROS library and run  Open a shell in the build directory of your EEROS library and run 
 <code> <code>
-$ sudo -E ./examples/ros/rosTest2 -c RosTest2Config.json+$ ./examples/ros/rosTest2 -c RosTest2Config.json
 </code> </code>
  
 ==== Publishing ==== ==== Publishing ====
 This example runs your EEROS application as a ROS node under the name ///eerosNode//. It publishes two topics This example runs your EEROS application as a ROS node under the name ///eerosNode//. It publishes two topics
-  * /test/val         (of type double) +  * /test/analogSignal  (of type eeros_msgs/msg/AnalogSignal) 
-  * /test/state       (of type boolean)+  * /test/digitalSignal (of type eeros_msgs/msg/DigitalSignal)
  
-Use the same tools as in [[getting_started:tutorials:systemros1#using_ros2|Control System Talking to ROS|]] to show nodes, topics and messages. The output on ''/test/state'' reflects what is input on ''/rosNodeTalker/state''. As long as this topic is not written to, the published state will not change, see below.+Use the same tools as in [[getting_started:tutorials:systemros1#using_ros2|Control System Talking to ROS]] to show nodes, topics and messages. The output on ''/test/digitalSignal'' reflects what is input on ''/rosNodeTalker/digitalSignal''. As long as this topic is not written to, the published state will not change, see below.
  
 ==== Subscribing ==== ==== Subscribing ====
 Open another shell in the build directory of your EEROS library and run ''rosNodeTalker''. This is not a EEROS program but simply starts a ROS node which publishes a couple of test topics. As soon as ''rosNodeTalker'' runs, your example application will receive the two topics Open another shell in the build directory of your EEROS library and run ''rosNodeTalker''. This is not a EEROS program but simply starts a ROS node which publishes a couple of test topics. As soon as ''rosNodeTalker'' runs, your example application will receive the two topics
-  * /rosNodeTalker/val    (of type double) +  * /rosNodeTalker/analogSignal    (of type eeros_msgs/msg/AnalogSignal) 
-  * /rosNodeTalker/state  (of type boolean)+  * /rosNodeTalker/digitalSignal (of type eeros_msgs/msg/DigitalSignal)
 and logs its transported message values into the console. Use and logs its transported message values into the console. Use
 <code> <code>
-$ rqt_graph+$ rqt
 </code> </code>
-to show a graph with all involved nodes together with their topics.+to show a graph with all involved nodes together with their topics or to plot messages.
  
  
getting_started/tutorials/hal4.1677502580.txt.gz · Last modified: by ursgraf